OpenRaiser/Intern-Atlas huggingface dataset:
On Quantitative Evaluations of Counterfactuals
Venue: arXiv cs.LG 2021
Year: 2021

As counterfactual examples become increasingly popular for explaining decisions of deep learning models, it is essential to understand what properties quantitative evaluation metrics do capture and equally important what they do not capture. Currently, such understanding is lacking, potentially slowing down scientific progress. In this paper, we consolidate the work on evaluating visual counterfactual examples through an analysis and experiments. We find that while most metrics behave as intended for sufficiently simple datasets, some fail to tell the difference between good and bad counterfactuals when the complexity increases. We observe experimentally that metrics give good scores to tiny adversarial-like changes, wrongly identifying such changes as superior counterfactual examples. To mitigate this issue, we propose two new metrics, the Label Variation Score and the Oracle score, which are both less vulnerable to such tiny changes. We conclude that a proper quantitative evaluation of visual counterfactual examples should combine metrics to ensure that all aspects of good counterfactuals are quantified.
Leveraging SE(3) Equivariance for Self-Supervised Category-Level Object Pose Estimation
Venue: arXiv cs.CV 2021
Year: 2021

Category-level object pose estimation aims to find 6D object poses of previously unseen object instances from known categories without access to object CAD models. To reduce the huge amount of pose annotations needed for category-level learning, we propose for the first time a self-supervised learning framework to estimate category-level 6D object pose from single 3D point clouds.During training, our method assumes no ground-truth pose annotations, no CAD models, and no multi-view supervision. The key to our method is to disentangle shape and pose through an invariant shape reconstruction module and an equivariant pose estimation module, empowered by SE(3) equivariant point cloud networks.The invariant shape reconstruction module learns to perform aligned reconstructions, yielding a category-level reference frame without using any annotations. In addition, the equivariant pose estimation module achieves category-level pose estimation accuracy that is comparable to some fully supervised methods. Extensive experiments demonstrate the effectiveness of our approach on both complete and partial depth point clouds from the ModelNet40 benchmark, and on real depth point clouds from the NOCS-REAL 275 dataset. The project page with code and visualizations can be found at: https://dragonlong.github.io/equi-pose.
How should human translation coexist with NMT? Efficient tool for building high quality parallel corpus
Venue: arXiv cs.CL 2021
Year: 2021

This paper proposes a tool for efficiently constructing high-quality parallel corpora with minimizing human labor and making this tool publicly available. Our proposed construction process is based on neural machine translation (NMT) to allow for it to not only coexist with human translation, but also improve its efficiency by combining data quality control with human translation in a data-centric approach.
AutoDrone: Shortest Optimized Obstacle-Free Path Planning for Autonomous Drones
Venue: arXiv cs.AI 2021
Year: 2021

With technological advancement, drone has emerged as unmanned aerial vehicle that can be controlled by humans to fly or reach a destination. This may be autonomous as well, where the drone itself is intelligent enough to find a shortest obstacle-free path to reach the destination from a designated source. Be it a planned smart city or even a wreckage site affected by natural calamity, we may imagine the buildings, any surface-erected structure or other blockage as obstacles for the drone to fly in a straight line-of-sight path. To address such path-planning of drones, the bird's eye-view of the whole landscape is first transformed to a graph of grid-cells, where some are occupied to indicate the obstacles and some are free to indicate the free path. We propose a method to find out the shortest obstacle-free path in the coordinate system guided by GPS. The autonomous drone (AutoDrone) will thus be able to move from one place to another along the shortest path, without colliding into hindrances, while traveling in a two-dimensional space. Heuristics to extend this to long journeys and 3D space are also elaborated. Our approach can be especially beneficial in rescue operations and fast delivery or pick-up in an energy-efficient way, where our algorithm will help in finding out the shortest path and angle along which it should fly. Experiments are done on different scenarios of map layouts and obstacle positions to understand the shortest feasible route, computed by the autonomous drone.
Multi-weight Matrix Completion with Arbitrary Subspace Prior Information
Venue: arXiv cs.IT 2021
Year: 2021

Matrix completion refers to completing a low-rank matrix from a few observed elements of its entries and has been known as one of the significant and widely-used problems in recent years. The required number of observations for exact completion is directly proportional to rank and the coherency parameter of the matrix. In many applications, there might exist additional information about the low-rank matrix of interest. For example, in collaborative filtering, Netflix and dynamic channel estimation in communications, extra subspace information is available. More precisely in these applications, there are prior subspaces forming multiple angles with the ground-truth subspaces. In this paper, we propose a novel strategy to incorporate this information into the completion task. To this end, we designed a multi-weight nuclear norm minimization where the weights are such chosen to penalize each angle within the matrix subspace independently. We propose a new scheme for optimally choosing the weights. Specifically, we first calculate an upper-bound expression describing the coherency of the interested matrix. Then, we obtain the optimal weights by minimizing this expression. Simulation results certify the advantages of allowing multiple weights in the completion procedure. Explicitly, they indicate that our proposed multi-weight problem needs fewer observations compared to state-of-the-art methods.
The CAT SET on the MAT: Cross Attention for Set Matching in Bipartite Hypergraphs
Venue: arXiv cs.LG 2021
Year: 2021

Usual relations between entities could be captured using graphs; but those of a higher-order -- more so between two different types of entities (which we term "left" and "right") -- calls for a "bipartite hypergraph". For example, given a left set of symptoms and right set of diseases, the relation between a set subset of symptoms (that a patient experiences at a given point of time) and a subset of diseases (that he/she might be diagnosed with) could be well-represented using a bipartite hyperedge. The state-of-the-art in embedding nodes of a hypergraph is based on learning the self-attention structure between node-pairs from a hyperedge. In the present work, given a bipartite hypergraph, we aim at capturing relations between node pairs from the cross-product between the left and right hyperedges, and term it a "cross-attention" (CAT) based model. More precisely, we pose "bipartite hyperedge link prediction" as a set-matching (SETMAT) problem and propose a novel neural network architecture called CATSETMAT for the same. We perform extensive experiments on multiple bipartite hypergraph datasets to show the superior performance of CATSETMAT, which we compare with multiple techniques from the state-of-the-art. Our results also elucidate information flow in self- and cross-attention scenarios.
Utility-driven Mining of Contiguous Sequences
Venue: arXiv cs.DB 2021
Year: 2021

Recently, contiguous sequential pattern mining (CSPM) gained interest as a research topic, due to its varied potential real-world applications, such as web log and biological sequence analysis. To date, studies on the CSPM problem remain in preliminary stages. Existing CSPM algorithms lack the efficiency to satisfy users' needs and can still be improved in terms of runtime and memory consumption. In addition, existing algorithms were developed to deal with simple sequence data, working with only one event at a time. Complex sequence data, which represent multiple events occurring simultaneously, are also commonly observed in real life. In this paper, we propose a novel algorithm, fast utility-driven contiguous sequential pattern mining (FUCPM), to address the CSPM problem. FUCPM adopts a compact sequence information list and instance chain structures to store the necessary information of the database and candidate patterns. For further efficiency, we develop the global unpromising items pruning and local unpromising items pruning strategies, based on sequence-weighted utilization and item-extension utilization, to reduce the search space. Extensive experiments on real-world and synthetic datasets demonstrate that FUCPM outperforms the state-of-the-art algorithms and is scalable enough to handle complex sequence data.
Love tHy Neighbour: Remeasuring Local Structural Node Similarity in Hypergraph-Derived Networks
Venue: arXiv cs.SI 2021
Year: 2021

The problem of node-similarity in networks has motivated a plethora of such measures between node-pairs, which make use of the underlying graph structure. However, higher-order relations cannot be losslessly captured by mere graphs and hence, extensions thereof viz. hypergraphs are used instead. Measuring proximity between node pairs in such a setting calls for a revision in the topological measures of similarity, lest the hypergraph structure remains under-exploited. We, in this work, propose a multitude of hypergraph-oriented similarity scores between node-pairs, thereby providing novel solutions to the link prediction problem. As a part of our proposition, we provide theoretical formulations to extend graph-topology based scores to hypergraphs. We compare our scores with graph-based scores (over clique-expansions of hypergraphs into graphs) from the state-of-the-art. Using a combination of the existing graph-based and the proposed hypergraph-based similarity scores as features for a classifier predicts links much better than using the former solely. Experiments on several real-world datasets and both quantitative as well as qualitative analyses on the same exhibit the superiority of the proposed similarity scores over the existing ones.
Counting and Verifying Abelian Border Arrays of Binary Words
Venue: arXiv cs.DS 2021
Year: 2021

In this note, we consider the problem of counting and verifying abelian border arrays of binary words. We show that the number of valid abelian border arrays of length \(n\) is \(2^{n-1}\). We also show that verifying whether a given array is the abelian border array of some binary word reduces to computing the abelian border array of a specific binary word. Thus, assuming the word-RAM model, we present an \(O\left(\frac{n^2}{\log^2n}\right)\) time algorithm for the abelian border array verification problem.
Higher-Order Relations Skew Link Prediction in Graphs
Venue: arXiv cs.LG 2021
Year: 2021

The problem of link prediction is of active interest. The main approach to solving the link prediction problem is based on heuristics such as Common Neighbors (CN) -- more number of common neighbors of a pair of nodes implies a higher chance of them getting linked. In this article, we investigate this problem in the presence of higher-order relations. Surprisingly, it is found that CN works very well, and even better in the presence of higher-order relations. However, as we prove in the current work, this is due to the CN-heuristic overestimating its prediction abilities in the presence of higher-order relations. This statement is proved by considering a theoretical model for higher-order relations and by showing that AUC scores of CN are higher than can be achieved from the model. Theoretical justification in simple cases is also provided. Further, we extend our observations to other similar link prediction algorithms such as Adamic Adar. Finally, these insights are used to propose an adjustment factor by taking into conscience that a random graph would only have a best AUC score of 0.5. This adjustment factor allows for a better estimation of generalization scores.
Long-Range Route-planning for Autonomous Vehicles in the Polar Oceans
Venue: arXiv cs.RO 2021
Year: 2021

There is an increasing demand for piloted autonomous underwater vehicles (AUVs) to operate in polar ice conditions. At present, AUVs are deployed from ships and directly human-piloted in these regions, entailing a high carbon cost and limiting the scope of operations. A key requirement for long-term autonomous missions is a long-range route planning capability that is aware of the changing ice conditions. In this paper we address the problem of automating long-range route-planning for AUVs operating in the Southern Ocean. We present the route-planning method and results showing that efficient, ice-avoiding, long-distance traverses can be planned.
Constraint-Aware Trajectory for Drone Delivery Services
Venue: arXiv cs.DC 2021
Year: 2021

Drones are becoming a novel means for delivery services. We present a demonstration of drone delivery services in a skyway network that uses the service paradigm. A set of experiments is conducted using Crazyflie drones to collect the data on various positions of drones, wind speed, wind direction, and battery consumption. We run the experiments for a range of flight patterns including linear, rectangular, and triangular shapes.
Identifying and mitigating bias in algorithms used to manage patients in a pandemic
Venue: arXiv cs.LG 2021
Year: 2021

Numerous COVID-19 clinical decision support systems have been developed. However many of these systems do not have the merit for validity due to methodological shortcomings including algorithmic bias. Methods Logistic regression models were created to predict COVID-19 mortality, ventilator status and inpatient status using a real-world dataset consisting of four hospitals in New York City and analyzed for biases against race, gender and age. Simple thresholding adjustments were applied in the training process to establish more equitable models. Results Compared to the naively trained models, the calibrated models showed a 57% decrease in the number of biased trials, while predictive performance, measured by area under the receiver/operating curve (AUC), remained unchanged. After calibration, the average sensitivity of the predictive models increased from 0.527 to 0.955. Conclusion We demonstrate that naively training and deploying machine learning models on real world data for predictive analytics of COVID-19 has a high risk of bias. Simple implemented adjustments or calibrations during model training can lead to substantial and sustained gains in fairness on subsequent deployment.
Continuous Convolutional Neural Networks: Coupled Neural PDE and ODE
Venue: arXiv cs.LG 2021
Year: 2021

Recent work in deep learning focuses on solving physical systems in the Ordinary Differential Equation or Partial Differential Equation. This current work proposed a variant of Convolutional Neural Networks (CNNs) that can learn the hidden dynamics of a physical system using ordinary differential equation (ODEs) systems (ODEs) and Partial Differential Equation systems (PDEs). Instead of considering the physical system such as image, time -series as a system of multiple layers, this new technique can model a system in the form of Differential Equation (DEs). The proposed method has been assessed by solving several steady-state PDEs on irregular domains, including heat equations, Navier-Stokes equations.
Optimizing Secure Decision Tree Inference Outsourcing
Venue: arXiv cs.CR 2021
Year: 2021

Outsourcing decision tree inference services to the cloud is highly beneficial, yet raises critical privacy concerns on the proprietary decision tree of the model provider and the private input data of the client. In this paper, we design, implement, and evaluate a new system that allows highly efficient outsourcing of decision tree inference. Our system significantly improves upon the state-of-the-art in the overall online end-to-end secure inference service latency at the cloud as well as the local-side performance of the model provider. We first presents a new scheme which securely shifts most of the processing of the model provider to the cloud, resulting in a substantial reduction on the model provider's performance complexities. We further devise a scheme which substantially optimizes the performance for encrypted decision tree inference at the cloud, particularly the communication round complexities. The synergy of these techniques allows our new system to achieve up to $8 \times$ better overall online end-to-end secure inference latency at the cloud side over realistic WAN environment, as well as bring the model provider up to $19 \times$ savings in communication and $18 \times$ savings in computation.
Hierarchical Deep Residual Reasoning for Temporal Moment Localization
Venue: arXiv cs.MM 2021
Year: 2021

Temporal Moment Localization (TML) in untrimmed videos is a challenging task in the field of multimedia, which aims at localizing the start and end points of the activity in the video, described by a sentence query. Existing methods mainly focus on mining the correlation between video and sentence representations or investigating the fusion manner of the two modalities. These works mainly understand the video and sentence coarsely, ignoring the fact that a sentence can be understood from various semantics, and the dominant words affecting the moment localization in the semantics are the action and object reference. Toward this end, we propose a Hierarchical Deep Residual Reasoning (HDRR) model, which decomposes the video and sentence into multi-level representations with different semantics to achieve a finer-grained localization. Furthermore, considering that videos with different resolution and sentences with different length have different difficulty in understanding, we design the simple yet effective Res-BiGRUs for feature fusion, which is able to grasp the useful information in a self-adapting manner. Extensive experiments conducted on Charades-STA and ActivityNet-Captions datasets demonstrate the superiority of our HDRR model compared with other state-of-the-art methods.
An Actor-Critic Method for Simulation-Based Optimization
Venue: arXiv cs.LG 2021
Year: 2021

We focus on a simulation-based optimization problem of choosing the best design from the feasible space. Although the simulation model can be queried with finite samples, its internal processing rule cannot be utilized in the optimization process. We formulate the sampling process as a policy searching problem and give a solution from the perspective of Reinforcement Learning (RL). Concretely, Actor-Critic (AC) framework is applied, where the Actor serves as a surrogate model to predict the performance on unknown designs, whereas the actor encodes the sampling policy to be optimized. We design the updating rule and propose two algorithms for the cases where the feasible spaces are continuous and discrete respectively. Some experiments are designed to validate the effectiveness of proposed algorithms, including two toy examples, which intuitively explain the algorithms, and two more complex tasks, i.e., adversarial attack task and RL task, which validate the effectiveness in large-scale problems. The results show that the proposed algorithms can successfully deal with these problems. Especially note that in the RL task, our methods give a new perspective to robot control by treating the task as a simulation model and solving it by optimizing the policy generating process, while existing works commonly optimize the policy itself directly.
Analysis of North Indian Classical Ragas Using Tonnetz
Venue: arXiv cs.SD 2021
Year: 2021

In North Indian Classical music, each raga has been traditionally associated with a performance time, which supposedly maximizes its aesthetic and emotional effects on the listener. The objective of this work was to investigate the structural basis, if any, for the association of ragas with different times of the 24-hour span. The tonnetz framework has been used to analyze the pitch sets of 65 North Indian Classical ragas, and structural similarities have been observed between ragas associated with (1) times of transition between day and night, i.e., dawn and dusk, and (2) times between these transitions. These findings could provide some insight into the scientific basis of the age-old raga-time relation, and their effects on the perception of the listener.
Decentralized Multi-Agent Reinforcement Learning: An Off-Policy Method
Venue: arXiv cs.MA 2021
Year: 2021

We discuss the problem of decentralized multi-agent reinforcement learning (MARL) in this work. In our setting, the global state, action, and reward are assumed to be fully observable, while the local policy is protected as privacy by each agent, and thus cannot be shared with others. There is a communication graph, among which the agents can exchange information with their neighbors. The agents make individual decisions and cooperate to reach a higher accumulated reward. Towards this end, we first propose a decentralized actor-critic (AC) setting. Then, the policy evaluation and policy improvement algorithms are designed for discrete and continuous state-action-space Markov Decision Process (MDP) respectively. Furthermore, convergence analysis is given under the discrete-space case, which guarantees that the policy will be reinforced by alternating between the processes of policy evaluation and policy improvement. In order to validate the effectiveness of algorithms, we design experiments and compare them with previous algorithms, e.g., Q-learning \cite{watkins1992q} and MADDPG \cite{lowe2017multi}. The results show that our algorithms perform better from the aspects of both learning speed and final performance. Moreover, the algorithms can be executed in an off-policy manner, which greatly improves the data efficiency compared with on-policy algorithms.
Integrated Modular Solution for Task Oriented Manipulator Configuration Design
Venue: arXiv cs.RO 2021
Year: 2021

Modular and reconfigurable robotic systems have been designed to provide a customized solution for the non-repetitive tasks to be performed in a constrained environment. Customized solutions are normally extracted from task-based optimization of the possible manipulator configurations but the solution are not integrated, for providing the modular compositions directly. In this work, in the first phase, a strategy of finding unconventional optimal configurations with minimal number of degrees-of-freedom are discussed based upon the prescribed working locations and the cluttered environment. Then, in the second phase, design of the modular and reconfigurable architecture is presented which can adapt these unconventional robotic parameters. Rather than generating and evolving the modular compositions, a strategy is presented through which the unconventional optimal configurations can be mapped directly to the modular compositions. The generated modular composition is validated using Robot Operating System for the motion planning between the prescribed working locations in a given cluttered environment.